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This paper deals with dynamics and control of a quadrotor UAV with a payload that is connected via a flexible cable, which is modeled as a system of serially-connected links. It is shown that a coordinate-free form of equations of motion can be derived for an arbitrary number of links according to Lagrangian mechanics on a manifold. A geometric nonlinear control system is also presented to asymptotically...
Nonlinear PID control systems for a quadrotor UAV are proposed to follow an attitude tracking command and a position tracking command. The control systems are developed directly on the special Euclidean group to avoid singularities of minimal attitude representations or ambiguity of quaternions. A new form of integral control terms is proposed to guarantee almost global asymptotic stability when there...
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